论文标题
软机器人的机理和模型，用于癌症放射治疗中的头部稳定
Mechanism and Model of a Soft Robot for Head Stabilization in Cancer Radiation Therapy
论文作者
论文摘要
我们提出了一种平行的机器人机制及其构成定律，该定律控制了其组成软的执行器的变形。我们的最终目标是患者头部偏离目标姿势的实时运动校正，软执行器控制患者颅骨在治疗机上的位置。我们描述了该机制，得出了各个执行器的应力 - 应变原理定律以及规定给定变形的逆运动学，然后呈现仿真结果，以验证我们的数学公式。我们的结果表明，在有限的弹性变形框架下，与我们的径向对称位移配方一致的变形。
We present a parallel robot mechanism and the constitutive laws that govern the deformation of its constituent soft actuators. Our ultimate goal is the real-time motion-correction of a patient's head deviation from a target pose where the soft actuators control the position of the patient's cranial region on a treatment machine. We describe the mechanism, derive the stress-strain constitutive laws for the individual actuators and the inverse kinematics that prescribes a given deformation, and then present simulation results that validate our mathematical formulation. Our results demonstrate deformations consistent with our radially symmetric displacement formulation under a finite elastic deformation framework.
